Tether termination systems and methods

ABSTRACT

An Airborne Wind Turbine (“AWT”) may be used to facilitate conversion of kinetic energy to electrical energy. An AWT may include an aerial vehicle that flies in a path to convert kinetic wind energy to electrical energy. The aerial vehicle may be tethered to a ground station with a tether that terminates at a tether termination mount. In one aspect, the tether has a core and at least one electrical conductor. The tether core may be terminated at a first location in a tether termination mount along an axis of the termination mount, and the at least one electrical conductor may be terminated at a second location in the tether termination mount along the same axis that the core is terminated. This termination configuration may focus tensile stress on the tether to the tether core, and minimize such stress on the at least one electrical conductor during aerial vehicle flight.

BACKGROUND

Unless otherwise indicated herein, the materials described in thissection are not prior art to the claims in this application and are notadmitted to be prior art by inclusion in this section.

Power generation systems may convert chemical and/or mechanical energy(e.g., kinetic energy) to electrical energy for various applications,such as utility systems. As one example, a wind energy system mayconvert kinetic wind energy to electrical energy.

The use of wind turbines as a means for harnessing energy has been usedfor a number of years. Conventional wind turbines typically includelarge turbine blades positioned atop a tower. The cost of manufacturing,erecting, maintaining, and servicing such wind turbine towers issignificant.

An alternative to the costly wind turbine towers that may be used toharness wind energy is the use of an aerial vehicle that is attached toa ground station with an electrically conductive tether. Such analternative may be referred to as an Airborne Wind Turbine (AWT).

SUMMARY

The present disclosure generally relates to tether termination systemsand methods that may be used in an Airborne Wind Turbine (AWT) thatincludes an aerial vehicle attached to a ground station by anelectrically conductive tether. In particular, the present disclosurerelates to tether termination systems and methods that may be used in anAWT to facilitate the termination of an electrically conductive tetherat a ground station and/or at the aerial vehicle. The systems andmethods disclosed herein may help to avoid subjecting the electricalconductors of the tether to damaging stresses during, for example,flight of the aerial vehicle.

In one aspect, a tether termination system is provided that includes (i)a tether having a core and at least one electrical conductor, and (ii) atether termination mount having a rotatable termination anchor, whereinthe termination anchor is coupled to the tether, wherein the core of thetether is secured in a cavity of the termination anchor at a firstlocation, wherein the at least one electrical conductor of the tether issecured in the cavity of the termination anchor at a second location,and wherein the core of the tether and the at least one electricalconductor of the tether may rotate within the cavity of the terminationanchor about an axis of the termination anchor. The first location maybe proximal to the second location. The core of the tether may enter thecavity of the termination anchor at a proximal end of the terminationanchor, and the at least one electrical conductor of the tether mayenter the cavity of the termination anchor on a lateral surface of thetermination anchor. When the tether is under tension, the core of thetether may bear a greater tensile stress than the at least oneelectrical conductor. The tether termination mount may be part of aground station of an airborne wind turbine, wherein the tether connectsan aerial vehicle to the ground station via the tether terminationmount. The tether may have at least two electrical conductors, and theat least two electrical conductors may be spliced together inside thecavity of the termination anchor. The core and the at least oneelectrical conductor of the tether may both be secured in the cavity ofthe termination anchor along the axis of the termination anchor.

In another aspect, a tether termination system is provided that includes(i) a tether having a core and at least one electrical conductor,wherein the core and the at least one electrical conductor are incontact for a first, proximal portion of the tether and not in contactfor a second, distal portion of the tether, and (ii) a tethertermination mount having a rotatable termination anchor, wherein thetermination anchor is coupled to the second, distal portion of thetether, wherein the core of the second, distal portion of the tether issecured in a cavity of the termination anchor at a first location,wherein the at least one electrical conductor of the second, distalportion of the tether is secured in the cavity of the termination anchorat a second location, and wherein the core and the at least oneelectrical conductor of the second, distal portion of the tether mayrotate within the cavity of the termination anchor about an axis of thetether termination mount. The first location may be proximal to thesecond location. The core of the second, distal portion of the tethermay enter the cavity of the termination anchor at a proximal end of thetermination anchor, and the at least one electrical conductor of thesecond, distal portion of the tether may enter the cavity of thetermination anchor on a lateral surface of the termination anchor. Whenthe tether is under tension, the core of the tether may bear a greatertensile stress than the at least one electrical conductor. The tethertermination mount may be part of a ground station of an airborne windturbine, wherein the tether connects an aerial vehicle to the groundstation via the tether termination mount. The tether may have at leasttwo electrical conductors, and the at least two electrical conductorsmay be spliced together inside the cavity of the termination anchor. Thecore and the at least one electrical conductor of the tether may both besecured in the cavity of the termination anchor along the axis of thetermination anchor.

In a another aspect, an airborne wind turbine is provided that includes(i) an aerial vehicle, (ii) a tether having a core and at least oneelectrical conductor, wherein the tether is coupled to the aerialvehicle, and (iii) a ground station comprising a tether terminationmount comprising a rotatable termination anchor, wherein the tether iscoupled to the ground station via the termination anchor, wherein thecore of the tether is secured along an axis of the termination anchor ata first location, and wherein the at least one electrical conductor ofthe tether is secured along the axis of the termination anchor at asecond location. The first location may be proximal to the secondlocation. The first location and the second location may be inside acavity of the termination anchor. The core of the tether may enter thecavity of the termination anchor at a proximal end of the terminationanchor, and the at least one electrical conductor of the tether mayenter the cavity of the termination anchor on a lateral surface of thetermination anchor. When the tether is under tension, the core of thetether bears a greater tensile stress than the at least one electricalconductor

These as well as other aspects, advantages, and alternatives, willbecome apparent to those of ordinary skill in the art by reading thefollowing detailed description, with reference where appropriate to theaccompanying drawings.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a perspective view of an exemplary airborne wind turbine 10 ina flying mode, including an aerial vehicle 20 attached to a groundstation 50 by a tether 30.

FIG. 2 is a close-up perspective view of the aerial vehicle 20 shown inFIG. 1.

FIG. 3 is a side view of an exemplary airborne wind turbine 100 in anon-flying perched mode, including an aerial vehicle 120 attached to aground station 150 by a tether 130, where the aerial vehicle 120 isperched on a perch panel 160 of the ground station 150.

FIG. 4 is a top view of the airborne wind turbine 100 shown in FIG. 3.

FIG. 5 is a cross-sectional view of an exemplary tether 230, includingelectrical conductors 292 surrounding a core 290.

FIG. 6 is a cross-sectional view of an exemplary tether terminationmount 354 for terminating a tether 330 at a ground station.

FIG. 7 is a close-up cross-sectional view of the tether terminationmount 354 shown in FIG. 6.

FIG. 8 is a perspective view of an exemplary tether termination anchor400 that can be used in a tether termination mount for terminating atether at a ground station.

FIG. 9 is a close-up cross-sectional view of an exemplary configurationfor terminating electrical conductors 592 of a tether through a tethertermination anchor 500 of a tether termination mount.

DETAILED DESCRIPTION

Example methods and systems are described herein. Any example embodimentor feature described herein is not necessarily to be construed aspreferred or advantageous over other embodiments or features. Theexample embodiments described herein are not meant to be limiting. Itwill be readily understood that certain aspects of the disclosed methodsand systems can be arranged and combined in a wide variety of differentconfigurations, all of which are contemplated herein.

Furthermore, all of the Figures described herein are representative onlyand the particular arrangements shown in the Figures should not beviewed as limiting. It should be understood that other embodiments mayinclude more or less of each element shown in a given Figure. Further,some of the illustrated elements may be combined or omitted. Yetfurther, an example embodiment may include elements that are notillustrated in the Figures.

I. OVERVIEW

Wind energy systems, such as an Airborne Wind Turbine (AWT), may be usedto convert wind energy to electrical energy. An AWT is a wind basedenergy generation device that may include an aerial vehicle that isattached to a ground station by an electrically conductive tether. Theaerial vehicle may be constructed of a rigid wing with a plurality ofmounted turbines. The aerial vehicle may be operable to fly in a pathacross the wind, such as a substantially circular path above the ground(or water) to convert kinetic wind energy to electrical energy. In suchcrosswind flight, the aerial vehicle may fly across the wind in acircular pattern similar to the tip of a wind turbine blade. Theturbines attached to the rigid wing may be used to generate power byslowing the wing down. In particular, air moving across the turbineblades may force the blades to rotate, driving a generator to produceelectricity. The aerial vehicle may also be connected to a groundstation via an electrically conductive tether that transmits powergenerated by the aerial vehicle to the ground station, and on to a grid.

When it is desired to land the aerial vehicle, the electricallyconductive tether may be wound onto a spool or drum on the groundstation and the aerial vehicle may be reeled in towards a perch on theground station. Prior to landing on the perch, the aerial vehicletransitions from a flying mode to a hover mode. The drum may be furtherrotated to further wind the tether onto the drum until the aerialvehicle comes to rest on the perch.

The electrically conductive tether may be configured to withstand one ormore forces of the aerial vehicle when the aerial vehicle is in flightmode (e.g., takeoff, landing, hover flight, forward flight, and/orcrosswind flight). As such, the tether may include a core constructed ofhigh strength fibers. In addition to transmitting electrical energygenerated by the aerial vehicle to the ground station, as noted above,the tether may also be used to transmit electricity from the groundstation to the aerial vehicle in order to power the aerial vehicleduring operation. Accordingly, the tether may also include one or moreelectrical conductors for the transmission of electrical energygenerated by the aerial vehicle and/or transmission of electricity tothe aerial vehicle. In some embodiments, the tether may include aplurality of insulated electrical conductors that surround the tethercore. In some embodiments, the tether may also include one or moreoptical conductors for the transmission of data to and from the aerialvehicle.

As the aerial vehicle flies across the wind in a substantially circularpath, the tether may continuously rotate in one direction about acentral tether axis. Consequentially, a tether termination system may beprovided at the ground station that allows for tether rotation. Such atether termination system may avoid twisting of the tether, which could,among other things, damage the electrical conductors of the tether. Inone embodiment disclosed herein, a tether termination system is providedthat includes a termination anchor that receives the tether and that isconfigured to rotate during tether rotation. The tether terminationsystem may also include a rotatable spindle connected to the terminationanchor.

While the aerial vehicle is in flight, the tether may also be undertension, which could also damage the electrical conductors of thetether. Accordingly, it may be desirable not only to terminate thetether in a manner that prevents twisting of the tether during tetherrotation, as described above, but also to focus any tensile stress onthe tether to the tether core, and to minimize such stress on theelectrical conductors. As described in more detail below, in oneembodiment disclosed herein, this may be achieved by terminating thetether core at a first location in a tether termination mount along anaxis of the termination mount, and terminating the electrical conductorsat a second location in the tether termination mount along the same axisthat the core is terminated, where the first location is proximal to thesecond location.

As used herein, the terms “proximal” and “distal” refer to the locationof elements relative to the center of the tether length (i.e., themidpoint of the tether between the ground station and aerial vehicle);“proximal” being closer to the center of the tether and “distal” beingfurther from the center of the tether.

II. ILLUSTRATIVE AIRBORNE WIND TURBINES

As disclosed in FIGS. 1-2, an Airborne Wind Turbine (AWT) 10 isdisclosed, according to an example embodiment. AWT 10 is a wind basedenergy generation device that includes an aerial vehicle 20 constructedof a rigid wing 22 with mounted turbines (or rotors) 40 a and 40 b thatflies in a path, such as a substantially circular path, across the wind.In an example embodiment, the aerial vehicle 20 may fly between 250 and600 meters above the ground (or water) to convert kinetic wind energy toelectrical energy. However, an aerial vehicle 20 may fly at otherheights without departing from the scope of the invention. In crosswindflight, the aerial vehicle 20 flies across the wind in a circularpattern similar to the tip of a wind turbine. The rotors 40 a and 40 battached to the rigid wing 22 are used to generate power by slowing thewing 22 down. Air moving across the turbine blades 45 forces them torotate, driving a generator (not shown) to produce electricity. Theaerial vehicle 20 is connected to a ground station 50 via anelectrically conductive tether 30 that transmits power generated by theaerial vehicle 20 to the ground station 50, and on to the grid.

As shown in FIG. 1, the aerial vehicle 20 may be connected to the tether30, and the tether 30 may be connected to the ground station 50. In thisexample, the tether 30 may be attached to the ground station 50 at onelocation on the ground station 50, e.g., at a tether termination mount(not shown). The tether 30 may be attached to the aerial vehicle 20 atthree locations on the aerial vehicle 20 using bridal 32 a, 32 b, and 32c. However, in other examples, the tether 30 may be attached at a singlelocation or multiple locations to any part of the ground station 50and/or the aerial vehicle 20.

The ground station 50 may be used to hold and/or support the aerialvehicle 20 until it is in an operational mode. The ground station mayinclude a tower 52 that may be on the order of 15 meters tall. Theground station may also include a drum 80 rotatable about drum axis 82that is used to reel in aerial vehicle 20 by winding the tether 30 ontothe rotatable drum 80. In this example, the drum 80 is orientedvertically, although the drum may also be oriented horizontally (or atan angle). Further, the ground station 50 may be further configured toreceive the aerial vehicle 20 during a landing. For example, supportmembers 56 are attached to perch panels 58 that extend from the groundstation 50. When the tether 30 is wound onto drum 80, and the aerialvehicle 20 is reeled in towards the ground station 50, the aerialvehicle 20 may come to rest upon perch panels 58. The ground station 50may be formed of any material that can suitably keep the aerial vehicle20 attached and/or anchored to the ground while in hover flight, forwardflight, or crosswind flight. In some implementations, ground station 50may be configured for use on land. However, ground station 50 may alsobe implemented on a body of water, such as a lake, river, sea, or ocean.For example, a ground station could include or be arranged on a floatingoff-shore platform or a boat, among other possibilities. Further, groundstation 50 may be configured to remain stationary or to move relative tothe ground or the surface of a body of water.

The tether 30 may transmit electrical energy generated by the aerialvehicle 20 to the ground station 50. In addition, the tether 30 maytransmit electricity to the aerial vehicle 20 in order to power theaerial vehicle 20 during takeoff, landing, hover flight, and/or forwardflight. Further, the tether 30 may transmit data between the aerialvehicle 20 and ground station 50. The tether 30 may be constructed inany form and using any material that may allow for the transmission,delivery, and/or harnessing of electrical energy generated by the aerialvehicle 20 and/or transmission of electricity to the aerial vehicle 20.For example, the tether 30 may include one or more electricalconductors. The tether 30 may also be constructed of a material thatallows for the transmission of data to and from the aerial vehicle 20.For example, the tether may also include one or more optical conductors.

The tether 30 may also be configured to withstand one or more forces ofthe aerial vehicle 20 when the aerial vehicle 20 is in an operationalmode. For example, the tether 30 may include a core configured towithstand one or more forces of the aerial vehicle 20 when the aerialvehicle 20 is in hover flight, forward flight, and/or crosswind flight.The core may be constructed of any high strength fibers or a carbonfiber rod. In some examples, the tether 30 may have a fixed lengthand/or a variable length. For example, in one example, the tether has afixed length of 500 meters.

In one embodiment of the tether, as shown in the cross-sectional view ofFIG. 5, the tether 230 may include a central high-strength core 290surrounded by a plurality of electrical conductors 292. The core 290 maycomprise a single strand or multiple strands that are helically woundalong the length of the core 290. In one embodiment, the high-strengthcore 290 is comprised of multiple composite rods having fibrous elementssuch as aramid fibers, carbon fibers, or glass fibers, and aconstraining matrix element such as an epoxy matrix or a vinyl estermatrix. In another embodiment, the high-strength core 290 is comprisedof dry fibers, metal wire, or metal cable rather than composite rods.The tether core 290 may be coated with a bonding layer 294 and each ofthe electrical conductors 292 may be provided with an insulation jacket296. An outer sheath 298 may also provided. Surrounding the tether core290 with the electrical conductors 292, as opposed to running theconductors through the center of the core, may be desirable because,among other things, it may increase the cooling capacity of theelectrical conductors. In some embodiments, one or more of theelectrical conductors may be replaced with one or more opticalconductors.

The aerial vehicle 20 may include or take the form of various types ofdevices, such as a kite, a helicopter, a wing and/or an airplane, amongother possibilities. The aerial vehicle 20 may be formed of solidstructures of metal, plastic and/or other polymers. The aerial vehicle20 may be formed of any material that allows for a high thrust-to-weightratio and generation of electrical energy which may be used in utilityapplications. Additionally, the materials may be chosen to allow for alightning hardened, redundant and/or fault tolerant design which may becapable of handling large and/or sudden shifts in wind speed and winddirection. Other materials may be possible as well.

As shown in FIG. 1, and in greater detail in FIG. 2, the aerial vehicle20 may include a main wing 22, rotors 40 a and 40 b, tail boom orfuselage 24, and tail wing 26. Any of these components may be shaped inany form that allows for the use of components of lift to resist gravityand/or move the aerial vehicle 20 forward.

The main wing 22 may provide a primary lift for the aerial vehicle 20.The main wing 22 may be one or more rigid or flexible airfoils, and mayinclude various control surfaces, such as winglets, flaps, rudders,elevators, etc. The control surfaces may be used to stabilize the aerialvehicle 20 and/or reduce drag on the aerial vehicle 20 during hoverflight, forward flight, and/or crosswind flight. The main wing 22 may beany suitable material for the aerial vehicle 20 to engage in hoverflight, forward flight, and/or crosswind flight. For example, the mainwing 20 may include carbon fiber and/or e-glass.

Rotor connectors 43 may be used to connect the lower rotors 40 a to themain wing 22, and rotor connectors 41 may be used to connect the upperrotors 40 b to the main wing 22. In some examples, the rotor connectors43 and 41 may take the form of or be similar in form to one or morepylons. In this example, the rotor connectors 43 and 41 are arrangedsuch that the lower rotors 40 a are positioned below the wing 22 and theupper rotors 40 b are positioned above the wing 22. In another example,illustrated in FIGS. 3-4, rotor connectors 141 and 143 may form a singlepylon that may be attached to the underside of the main wing 122. Insuch an embodiment, rotor connectors 143 and 141 may still be arrangedsuch that the lower rotors 140 a are positioned below the wing 122 andthe upper rotors 140 b are positioned above the wing 122.

The rotors 40 a and 40 b may be configured to drive one or moregenerators for the purpose of generating electrical energy. In thisexample, the rotors 40 a and 40 b may each include one or more blades45, such as three blades. The one or more rotor blades 45 may rotate viainteractions with the wind and could be used to drive the one or moregenerators. In addition, the rotors 40 a and 40 b may also be configuredto provide a thrust to the aerial vehicle 20 during flight. With thisarrangement, the rotors 40 a and 40 b may function as one or morepropulsion units, such as a propeller. Although the rotors 40 a and 40 bare depicted as four rotors in this example, in other examples theaerial vehicle 20 may include any number of rotors, such as less thanfour rotors or more than four rotors, e.g. six or eight rotors.

Referring back to FIG. 1, when it is desired to land the aerial vehicle20, the drum 80 is rotated to reel in the aerial vehicle 20 towards theperch panels 58 on the ground station 50, and the electricallyconductive tether 30 is wound onto drum 80. Prior to landing on theperch panels 58, the aerial vehicle 20 transitions from a flying mode toa hover mode. The drum 80 is further rotated to further wind the tether30 onto the drum 80 until the aerial vehicle 20 comes to rest on theperch panels 58. Although shown as two separate perch panels 58 in thisexample, other examples may include a single perch panel or greater thantwo perch panels.

FIG. 3 is a side view of an airborne wind turbine 100, according to anexample embodiment. As shown, airborne wind turbine 100 includes aerialvehicle 120 perched on perch panel 160 of ground station 150. FIG. 4 isa top view of the aerial vehicle 120 and ground station 150 shown inFIG. 3, according to an example embodiment. In FIGS. 3 and 4, groundstation 150 includes a tower 152 upon which rotatable drum 180 andlevelwind 184 are positioned. In an embodiment, the tower 152 may be 15meters in height. In this perched mode, electrically conductive tether130 is wrapped around drum 180 and extends from the levelwind 184, andis attached to wing 122 of aerial vehicle 120 using bridle lines 132 a,132 b, and 132 c. In one embodiment the bridle lines 132 a, 132 b, and132 c may be attached at asymmetric locations along the span of the wing122, such that the inboard side of wing 122 has the bridle attachedfurther from the wingtip, and the outboard side of the wing 122 has thebridle attached closer to the outboard wingtip. Such an asymmetricconfiguration allows the bridle lines 132 a and 132 c to better clear alarger sized perch panel.

When the ground station 150 deploys (or launches) the aerial vehicle 120for power generation via crosswind flight, the tether 130 may be unwoundfrom the drum 180. In one example, one or more components of the groundstation 150 may be configured to pay out the tether 130 until the tether130 is completely unwound from the drum 180 and the aerial vehicle is incrosswind flight.

The perch panel 160 is supported by perch panel support members 162,which extend horizontally from a perch platform 172 of the groundstation 150. The perch platform 172 may rotate about the top of thetower 152 so that the perch panel 160 is in proper position when theaerial vehicle is 120 is landing. Aerial vehicle 120 includes lowerrotors 140 a mounted on pylons 143 attached to the underside of wing 122and upper rotors 140 b mounted on pylons 141 that are attached to pylons143. Rotors 140 a and 140 b may serve power-generating turbines. In anembodiment, wing 122 is 4 meters long. Aerial vehicle 120 includes afuselage 124 and tail wing 126. As shown in FIG. 3, fuselage 124 has acurved section 128 from which a peg 129 extends. In a perched condition,as shown in FIGS. 3 and 4, peg 129 contacts and rests on perch panel160.

Furthermore, when the aerial vehicle 120 is in hover mode duringlanding, the peg 129 extends downwardly and outwardly from the fuselage124 towards the perch panel 160. As shown in FIG. 4, the perch panel 160may be aligned with the tether 130 being guided through levelwind 184and onto a rotatable drum 180 that rotates about an axis 182. In thismanner, the perch panel 160 faces the fuselage 124 of the aerial vehicle120 when it is landing. The drum 180 shown in FIGS. 3 and 4 has avertical axis of rotation 182. However a horizontal drum or an angleddrum could also be used. For example, if a drum rotatable about ahorizontal axis is used, the perch panel support members 162 could becoupled to the drum such that the perch panel support members 162 extendperpendicularly from the axis of the drum and the tether 130 is woundonto the drum over the perch panel 160. In this manner as the tether 130is wound onto the drum, the perch panel 160 will always face the aerialvehicle 120 and be in position to receive the peg 129 on the fuselage124 of the aerial vehicle 120.

III. ILLUSTRATIVE SYSTEMS AND METHODS FOR TERMINATING A TETHER AT ATERMINATION MOUNT

FIGS. 6 and 7 illustrate cross sectional views of one embodiment of atether termination mount 354 that may be used to connect a tether 330(only shown in FIG. 6) to a ground station of an AWT, such as theexemplary AWTs illustrated in FIGS. 1-4. As shown, the tethertermination mount 354 generally includes a termination anchor 300, aspindle 304, a gimbal assembly 306, and a bearing housing 308.

In this embodiment, the proximal portion of the termination anchor 300generally takes the form of a hollow cone having a proximal end 336 anda lateral surface 340. The proximal end 336 of the termination anchor300 may be provided with an opening 338 to a cavity 302, which alsogenerally takes the form of a cone. In other embodiments, thetermination anchor 300 and cavity 302 may take a different form. Inaddition, it should be noted that the cavity 302 of the terminationanchor 300 does not necessarily have to track the geometry of the anchor300. However, regardless of the general geometry of the anchor 300 andthe cavity 302, it may be desirable for the cavity 302 to taper towardsthe proximal end 336 of the termination anchor 300. The cross section ofthe cavity 302 may be round (as shown in FIG. 6), rectangular,trapezoidal, elliptical, etc. The proximal opening 338 may be sized andshaped to receive the core 390 of the tether 330. The lateral surface340 of the termination anchor 300 may be provided with a plurality ofopenings 342 that also provide access to the cavity 302. These openings342 are sized and shaped to receive the electrical conductors 392 of thetether 330. As noted above, one or more of the electrical conductors 392may be replaced with one or more optical conductors for the transmissionof data. The embodiment shown has four openings 342, but any number ofopenings 342 may be possible. In one embodiment, the number of openings342 may correspond to the number of electrical conductors 392 of thetether 300. However, in other embodiments, the number of electricalconductors 392 may be greater than the number of openings 342 andmultiple conductors 392 may be routed through a single opening 342. Thedistal end portion of the termination anchor 300 may be generallycylindrical and configured to connect to the spindle 304. Thetermination anchor 300 and spindle 304 may be connected using any knowntechnique in the art that prevents relative rotation therebetween,including, for example, rivets, screws, adhesive, weld, friction fit,snap fit, etc. Although the termination anchor 300 and spindle 304 aretwo separate components in the embodiment shown in FIG. 6, in otherembodiments, the termination anchor 300 and spindle 304 may be a singlemember. As explained in more detail below, the termination anchor 300may be configured to rotate about its axis 350.

FIG. 8 illustrates an isometric view of an exemplary termination anchor400. The proximal end 436 of the termination anchor 400 may be providedwith an opening 438 to a cavity 402. The lateral surface 440 of thetermination anchor 400 may be provided with a plurality of openings 442that also provide access to the cavity 402. In this embodiment, theplurality of openings 442 are equally spaced around the axis 450 of thetermination anchor 400. However, in other embodiments, the plurality ofopenings 442 do not need to be equally spaced around the axis 450 of thetermination anchor 400. The distal end of the termination anchor 400 maybe configured to engage a proximal end of a spindle, such as spindle 304shown in FIGS. 6-7. As shown, the distal end of the termination anchorincludes a plurality of holes 448 for receiving fasteners used to securethe termination anchor 400 to a spindle.

Turning back to FIGS. 6-7, the spindle 304 generally takes the form of ahollow cylinder. As with the termination anchor 300, the spindle mayalso take a different form in other embodiments. The proximal endportion of the spindle 304 may be sized and shaped to fit within, andconnect to the distal end portion of the termination anchor 300. Inother embodiments, the proximal end portion of the spindle 304 may besized and shaped to fit over the distal end portion of the terminationanchor 300. The distal end portion of the spindle 304 may be coupled tothe bearing assembly 322 such that the spindle 304 can rotate within thebearing assembly 322. Because the spindle 304 may be connected to thetermination anchor 300 in a manner that prevents relative rotationtherebetween, the termination anchor 300 and the spindle 304 may rotatetogether about their common axis 350.

As shown, the bearing assembly 322 of this embodiment includes a bearinghousing 308, a front bearing 310, a rear bearing assembly 312, and arear bearing 314. The front bearing 310 may be located toward theproximal end of the bearing housing 308 and may help to reduce frictionbetween the inner surface of the bearing housing 308 and the outersurface of the spindle 304 during spindle/anchor rotation. As shown, thefront bearing 310 may be located adjacent the distal end of thetermination anchor 300. In other embodiments, the termination anchor 300may extend further in the distal direction and the front bearings 310may by used to reduce the friction between the inner surface of thebearing housing 308 and the outer surface of the anchor 300 duringrotation. The rear bearing 314 also helps to facilitate spindle/anchorrotation. The rear bearing 314 may be located toward the distal end ofthe bearing housing 308. As shown, the rear bearing 314 may not indirect contact with the spindle 304. Rather, the rear bearing assembly312 may be positioned between the spindle 304 and the rear bearing 314.In this embodiment, the rear bearing assembly 312 may be connected tothe spindle 304 in a manner that does not permit relative rotationtherebetween. Accordingly, the rear bearing assembly 312 may rotate withthe spindle 304 and the termination anchor 300. In other embodiments,the rear bearing 314 may be in direct contact with the spindle 304. Inaddition to reducing friction, the combination of the front bearing 310and the rear bearing 314 helps to ensure proper alignment of the spindle304 and termination anchor 300 relative to the bearing housing 308.Tether termination mount 354 may also provided with a chain sprocket 316that circumscribes a central portion of the spindle 304

The distal end of the bearing housing 308 may be coupled to the gimbalassembly 306, which in turn may be coupled to a ground station, such asground stations 50 or 150 shown in FIGS. 1-4. The gimbal assembly 306may include one or more gimbals. Each gimbal may provide structuralsupport that allows the tether termination mount 354 to rotate about anaxis. The gimbal assembly 306 may take the form of any gimbal assemblyknown in the art.

The manner in which the tether 330 may be terminated at the tethertermination mount 354 will know be described with reference to FIG. 6.As shown, the tether 330 has a first, proximal portion 324 where theelectrical conductors 392 surround, and are in contact with the tethercore 390. An exemplary cross-sectional view of this tether arrangementis illustrated by the tether 230 shown in FIG. 5. By “in contact,” it ismeant that there is contact between the electrical conductors 292 andthe core 290, either directly or indirectly via the insulation jacket296 of the electrical conductors 292 and/or bonding layer 294 of thecore 290. In other embodiments, additional layers may be present betweenthe electrical conductors and the core. The tether 330 also has asecond, distal portion 326 where the electrical conductors 392 and thecore 390 are separated/not in contact. As shown, the electricalconductors 392 are separated from the core 390 just prior to reachingthe proximal end 336 of the termination anchor 300. In otherembodiments, the electrical conductors 392 may be separated from thecore 390 at a more proximal location. A clamp feature may be provided atthe point of separation to prevent unwanted separation between theelectrical conductors 392 and the core 390 in the proximal direction.

The core 390 may then be routed through the proximal opening 338 of thetermination anchor 300 and into the cavity 302 where it is terminated.More specifically, the core 390 may be held in the cavity 302 with ahigh-strength epoxy 344, which bonds to both the outer surface of thecore 390 and the inner surface of the termination anchor 300. Duringmanufacturing, the core 390 may be inserted into the cavity 302 throughthe proximal opening 338 and then epoxy 344 may be injected into thecavity 302. As the epoxy 344 sets, it assumes the cone shape of theproximal portion of cavity 302. This cone shape acts as a wedge thathelps ensure that the core 390 cannot be pulled out of terminationanchor 300 when the tether is under tension, e.g., when the aerialvehicle is in flight. Other methods for terminating the core 390 in thecavity 302 of the termination anchor 300 may also be used. As shown, thecore 390 may be terminated within the cavity 302 along the terminationanchor/spindle axis 350. Although not shown in FIG. 6, the portion ofthe core 390 that is secured within the cavity 302 of the terminationanchor 300 may be split into multiple strands. Such a configuration mayincrease the surface area of the core 390 to which the epoxy can adhere.

Unlike the core 390, the electrical conductors 392 are not routedthrough the proximal opening 338 of the termination anchor 300 and intothe cavity 302. Rather, the electrical conductors 392 are routed pastthe opening 338 and along the lateral surface 340 of the terminationanchor 300. The electrical conductors 392 are then routed through thelateral openings 342 of the termination anchor 300 and into the cavity302. The lateral openings 342 are located distal to the proximal opening238. Additionally, in this embodiment, the electrical conductors 392enter the cavity 302 at a location distal to the epoxy 344 thatencapsulates the distal end of the core 390.

Once inside the cavity 302, the electrical conductors 392 can be splicedback together using any known method in the art. The electricalconductors 392 can also be routed through the spindle 304 and into orthrough the gimbal assembly 306 until they are connected at, forexample, a slip ring (not shown) that provides an electrical connectionbetween the electrical conductors 392 and one or more stationarycomponents of a ground station, such as the exemplary ground stationsshown in FIGS. 1-4. The slip ring may take the form of any slip ringknown in the art.

To facilitate the routing of the electrical conductors 392 through thespindle 304 and into or through the gimbal assembly 306 to a slip ring,a torsional coupling/cable assembly 346 may be provided. An exemplarytorsional coupling/cable assembly is described below with reference toFIG. 9. As shown in FIG. 6, once inside the cavity 302, the electricalconductors 392 are routed and terminated along the terminationanchor/spindle axis 350. Accordingly, the core 390 and electricalconductors 392 are both terminated along the same common axis.

One embodiment for terminating the electrical conductors inside thetether termination mount is shown in FIG. 9. As shown, the electricalconductors 592 are routed through the openings 542 in the lateralsurface 540 of the termination anchor 500. Once inside the cavity 502 ofthe anchor 500, the conductors 592 may be terminated to a cable assemblythat includes a flexible drive shaft 518 and protective covering 546.More specifically, the electrical conductors 592 may be terminated tothe flexible drive shaft 518 by being helically wrapped around the driveshaft 518. As shown, the proximal portion of the flexible drive shaft518 is aligned with the spindle/termination anchor axis 550. Theflexible drive shaft 518 may be secured to the termination anchor 500and/or spindle 504 so that rotation of the anchor/spindle results inrotation of the drive shaft 518, which in turn, results in rotation ofthe electrical conductors 592 and covering 546. In this embodiment, theflexible drive shaft 518 may include threads 552 that are configured toengage corresponding threads (not shown) on the termination anchor 500.In other embodiments, the drive shaft 518 may be secured to the anchor500 in a different manner known in the art. For example, a radial clampmay be used between the flexible drive shaft 518 (and/or covering 546)and the inner surface of the spindle 504 (and/or the inner surface ofthe termination anchor 500).

The above-described systems for terminating a tether will now bedescribed during operation of an AWT. As noted above, an aerial vehicleof an AWT may fly across the wind in a substantially circular path, thuscausing the tether to continuously rotate in one direction about thecentral tether axis. While the aerial vehicle is in flight, the tethermay also be under tension. Without a proper system and method forterminating the tether, the tether rotation may cause twisting of thetether, which could, among other things, damage the electricalconductors of the tether. Likewise, the tension in the tether could alsodamage the electrical conductors. The above-described systems andmethods may help to prevent damage to the electrical conductors of thetether.

With reference to FIG. 6, as an aerial vehicle (e.g., aerial vehicle 20or 120 shown in FIGS. 1-4) flies across the wind in a substantiallycircular path, the tether 330 continuously rotates about the centraltether axis 356 defined by the center of the tether core 390. Thistether rotation may cause the termination anchor 300 and spindle 304 torotate about their common axis 350 as the rotational energy of thetether 330 is transferred to the termination anchor 300 via the epoxy344 connection between the tether core 390 and the termination anchor300. As shown, within the tether termination mount 354, theanchor/spindle axis 350 may be coincident with the tether axis 356because the core 390 may be terminated along the anchor/spindle axis 350within the cavity 302 of the termination anchor 300. During thisrotation, the electrical conductors 392, which are routed along thelateral surface 340 of the termination anchor 300 and into the cavity302 through the openings 342 in the lateral surface 340, may also rotateabout the anchor/spindle axis 350. This coordinated rotation of thetether 330 (core 390 and electrical conductors 392), termination anchor300, and spindle 304 may reduce the risk of damage to the electricalconductors 392 caused by twisting.

By terminating the tether core 390 and electrical conductors 392 in thismanner, tension caused by the aerial vehicle may be focused to thetether core 390. Specifically, as an aerial vehicle is in flight, thisconfiguration allows the tether core 390 to be taut and bear moretensile stress than the electrical conductors 390, which may be lesstaut than the core 390 or may be provided with some slack. This focusingof tensile stress to the tether core 390 may avoid subjecting theelectrical conductors to damaging stresses.

Although the above description focuses on the termination of a tether ata termination mount on a ground station of an AWT, many of the samefeatures may be applied to the opposite end of the tether, which isconnected to an aerial vehicle. More specifically, the core and theelectrical conductors of the tether may be terminated at differentlocations such that the core bears more tensile stress than theelectrical conductors during flight of the aerial vehicle. Unlike thetermination systems and methods described above with respect to theground station, the termination systems and methods at the aerialvehicle side may not need to accommodate for tether rotation. This isespecially true if the termination system used at the ground stationalready accommodates the tether rotation. Accordingly, the terminationsystem at the aerial vehicle may not include a rotatable terminationanchor or spindle.

More specifically, with reference to FIG. 2, a termination anchorsimilar to the termination anchor 300 of FIG. 6 may be provided at theaerial vehicle 20 side of the tether 30 just proximal to the point 34where the tether 30 meets the bridles 32 a, 32 b, and 32 c. In such anembodiment, the tether core 390 may be routed into the cavity 302 of thetermination anchor 300 and secured along the axis 350 of the terminationanchor 300 with epoxy 344. The electrical conductors 392 may then berouted along the later surface 340 of the termination anchor 300 andthrough the openings 342 so that the electrical conductors 392 may beterminated inside the cavity 302 of the anchor 300 along the sametermination anchor axis 350 as shown in FIG. 6. The electricalconductors 392 may then routed along the bridles 32 a, 32 b, and 32 andon to the aerial vehicle 20. In another embodiment, the electricalconductors 392 may be routed along the later surface 342 of thetermination anchor 300 and terminated along the bridles 32 a, 32 b, and32 (as opposed to inside the cavity 302 of the termination anchor 300)without entering the cavity 302 of the termination anchor 300.

IV. CONCLUSION

The above detailed description describes various features and functionsof the disclosed systems, devices, and methods with reference to theaccompanying figures. While various aspects and embodiments have beendisclosed herein, other aspects and embodiments will be apparent tothose skilled in the art. The various aspects and embodiments disclosedherein are for purposes of illustration and are not intended to belimiting, with the true scope and spirit being indicated by thefollowing claims.

We claim:
 1. A tether termination system configured for use with anairborne wind turbine, comprising: a tether comprising: a core, and atleast one electrical conductor; and a tether termination mountcomprising a rotatable termination anchor, wherein the terminationanchor is coupled to the tether, wherein the core of the tether issecured in a cavity of the termination anchor at a first location,wherein the at least one electrical conductor of the tether is securedin the cavity of the termination anchor at a second location, andwherein the core of the tether and the at least one electrical conductorof the tether may rotate within the cavity of the termination anchorabout an axis of the termination anchor.
 2. The tether terminationsystem of claim 1, wherein the first location is proximal to the secondlocation.
 3. The tether termination system of claim 2, wherein the coreof the tether enters the cavity of the termination anchor at a proximalend of the termination anchor, and wherein the at least one electricalconductor of the tether enters the cavity of the termination anchor on alateral surface of the termination anchor.
 4. The tether terminationsystem of claim 1, wherein, when the tether is under tension, the coreof the tether bears a greater tensile stress than the at least oneelectrical conductor.
 5. The tether termination system of claim 1,wherein the tether termination mount is part of a ground station of anairborne wind turbine, and wherein the tether connects an aerial vehicleto the ground station via the tether termination mount.
 6. The tethertermination system of claim 1, wherein the at least one electricalconductor comprises at least two electrical conductors.
 7. The tethertermination system of claim 1, wherein the at least two electricalconductors are spliced together inside the cavity of the terminationanchor.
 8. The tether termination system of claim 1, wherein the coreand the at least one electrical conductor of the tether are both securedin the cavity of the termination anchor along the axis of thetermination anchor.
 9. A tether termination system configured for usewith an airborne wind turbine, comprising: a tether comprising a coreand at least one electrical conductor, wherein the core and the at leastone electrical conductor are in contact for a first, proximal portion ofthe tether and not in contact for a second, distal portion of thetether; and a tether termination mount comprising a rotatabletermination anchor, wherein the termination anchor is coupled to thesecond, distal portion of the tether, wherein the core of the second,distal portion of the tether is secured in a cavity of the terminationanchor at a first location, wherein the at least one electricalconductor of the second, distal portion of the tether is secured in thecavity of the termination anchor at a second location, and wherein thecore and the at least one electrical conductor of the second, distalportion of the tether may rotate within the cavity of the terminationanchor about an axis of the tether termination mount.
 10. The tethertermination system of claim 9, wherein the first location is proximal tothe second location.
 11. The tether termination system of claim 10,wherein the core of the second, distal portion of the tether enters thecavity of the termination anchor at a proximal end of the terminationanchor, and wherein the at least one electrical conductor of the second,distal portion of the tether enters the cavity of the termination anchoron a lateral surface of the termination anchor.
 12. The tethertermination system of claim 9, wherein, when the tether is undertension, the core of the tether bears a greater tensile stress than theat least one electrical conductor.
 13. The tether termination system ofclaim 9, wherein the tether termination mount is part of a groundstation of an airborne wind turbine, and wherein the tether connects anaerial vehicle to the ground station via the tether termination mount.14. The tether termination system of claim 9, wherein the at least oneelectrical conductor comprises at least two electrical conductors,wherein the at least two electrical conductors are spliced togetherinside the cavity of the termination anchor.
 15. The tether terminationsystem of claim 9, wherein the core and the at least one electricalconductor of the tether are both secured in the cavity of thetermination anchor along the axis of the termination anchor.